Endoscope Assembly

Abstract

A locomotive endoscope assembly including a locomotive endoscope head ( 102 ) including a main portion extending along a longitudinal axis and having a first selectively inflatable balloon ( 500 ) associated therewith and a selectably positionable portion, selectably axially positionable along the main portion and having a second selectably inflatable balloon ( 502 ) associated therewith and a locomotive endoscope head controller ( 100 ) controlling the operation of the locomotive endoscope head ( 102 ) and being operative for controlling positioning of the selectably positionable portion relative to the main portion and selectable inflation of the first and second selectably inflatable balloons ( 500, 502 ).

1 - 169 . (canceled)  
     
     
         170 . An endoscope assembly comprising: 
 an endoscope head extending along a longitudinal axis and having a first plurality of selectably radially extendible elements associated therewith at least one first axial location therealong and a second plurality of selectably radially extendible elements associated therewith at least one second axial location therealong; and    an endoscope head controller being operative for controlling selectable extension of said first and second pluralities of selectably radially extendible elements for selectable positioning of said endoscope head.    
     
     
         171 . An endoscope assembly according to  claim 170  and wherein said endoscope head controller is operative for controlling selectable extension of said first and second pluralities of selectably radially extendible elements for selectable parallel off-center orientation of said endoscope head.  
     
     
         172 . An endoscope assembly according to  claim 170  and wherein said endoscope head controller is operative for controlling selectable extension of said first and second pluralities of selectably radially extendible elements for selectable tilted orientation of said endoscope head.  
     
     
         173 . An endoscope assembly according to  claim 171  and wherein said endoscope head controller is also operative for controlling selectable extension of said first and second pluralities of selectably radially extendible elements for selectable tilted orientation of said endoscope head.  
     
     
         174 . An endoscope assembly according to  claim 170  and wherein at least one of said first and second pluralities of selectably radially extendible elements comprises a plurality of radially extendible elements distributed generally azimuthally about said endoscope head.  
     
     
         175 . An endoscope assembly according to  claim 170  and wherein said endoscope head comprises a locomotive endoscope head.  
     
     
         176 . An endoscope assembly according to  claim 175  and wherein said locomotive endoscope head comprises a main portion extending along a longitudinal axis and associated with said first plurality of selectably radially extendible elements, and a selectably positionable portion, selectably axially positionable along said main portion and associated with said second plurality of selectably radially extendible elements  
     
     
         177 . An endoscope assembly according to  claim 170  and wherein at least one of said first and second pluralities of selectably radially extendible elements comprises a plurality of selectably inflatable balloons.  
     
     
         178 . An endoscope assembly according to  claim 170  and also comprising an endoscope body associated with said endoscope head and an instrument channel at least partially extending through said endoscope head and said endoscope body.  
     
     
         179 . An endoscope assembly according to  claim 170  and wherein said endoscope head has a fixed length.  
     
     
         180 . An endoscope assembly according to  claim 178 , and wherein said endoscope body interfaces with said endoscope head controller and also comprising an endoscopy system to which said endoscope head controller is connectable.  
     
     
         181 . An endoscope assembly according to  claim 178  and wherein said endoscope body includes at least one lumen operative for at least one of: 
 extension of said radially extendible elements;    positioning of said selectably positionable portion of said endoscope head;    passage therethrough of at least one of an optical fiber and an electrical conductor bundle; and    fluid communication.    
     
     
         182 . An endoscope assembly according to  claim 170  and wherein said first plurality of selectably radially extendible elements comprises at least two independently selectably radially extendible elements.  
     
     
         183 . An endoscope assembly according to  claim 170  and wherein said second plurality of selectably radially extendible elements comprises at least two independently selectably radially extendible elements.  
     
     
         184 . An endoscope assembly according to  claim 182  and wherein said second plurality of selectably radially extendible elements comprises at least two independently selectably radially extendible elements.  
     
     
         185 . An endoscope assembly according to  claim 184  and wherein said at least two independently selectably radially extendible elements of said second plurality of selectably radially extendible elements are azimuthally offset with respect to said at least two independently selectably radially extendible elements of said first plurality of selectably radially extendible elements.  
     
     
         186 . An endoscope assembly according to  claim 175  and wherein said endoscope head controller provides locomotive functionality adapted to sequentially displace said endoscope head through a generally tubular body portion.  
     
     
         187 . An endoscope assembly according to  claim 170  and wherein at least one of said first and second pluralities of selectably radially extendible elements is axially displaceable with respect to the other.  
     
     
         188 . An endoscope assembly according to  claim 171  and wherein at least one of said first and second pluralities of selectably radially extendible elements comprises a plurality of selectably inflatable balloons.  
     
     
         189 . An endoscope assembly according to  claim 172  and wherein at least one of said first and second pluralities of selectably radially extendible elements comprises a plurality of selectably inflatable balloons.  
     
     
         190 . An endoscope assembly according to  claim 173  and wherein at least one of said first and second pluralities of selectably radially extendible elements comprises a plurality of selectably inflatable balloons.  
     
     
         191 . An endoscope assembly according to  claim 182  and wherein said at least two independently selectably radially extendible elements comprise at least two independently selectably inflatable balloons.  
     
     
         192 . An endoscope assembly according to  claim 183  and wherein said at least two independently selectably radially extendible elements comprise at least two independently selectably inflatable balloons.  
     
     
         193 . An endoscope assembly according to  claim 184  and wherein said at least two independently selectably radially extendible elements comprise at least two independently selectably inflatable balloons.  
     
     
         194 . An endoscope assembly according to  claim 185  and wherein at least one of said at least two independently selectably radially extendible elements comprises at least two independently selectably inflatable balloons.  
     
     
         195 . An endoscope assembly according to  claim 178  and also comprising an endoscope tool arranged to travel along said instrument channel to a utilization location forward of said endoscope head, said endoscope tool being slidably and sealingly located within said instrument channel; and 
 a fluid endoscope tool positioner for selectably pressurizing said instrument channel for providing fluid driven desired positioning of said endoscope tool along said instrument channel.    
     
     
         196 . An endoscope assembly according to  claim 195  and wherein said endoscope tool includes a piston-defining portion sealingly and slidably engaging said instrument channel.  
     
     
         197 . An endoscope positioning method comprising: 
 providing an endoscope head extending along a longitudinal axis and having a first plurality of selectably radially extendible elements associated therewith at at least a first axial location therealong and a second plurality of selectably radially extendible elements associated therewith at least a second axial location therealong; and    selectably positioning said endoscope head by selectable extension of said first and second pluralities of selectably radially extendible elements.    
     
     
         198 . An endoscope positioning method according to  claim 197  and wherein at least one of said first and second pluralities of selectably radially extendible elements comprises a plurality of radially extendible elements distributed azimuthally about said endoscope head and said positioning said endoscope head includes selectable extension of individual ones of said plurality of radially extendible elements.